VEHICLE NAVIGATION

摘要

A method and apparatus for establishing a route for an autonomous vehicle (2), the method comprising: determining localisation information for the vehicle (2) with respect to a first frame of reference that is fixed with respect to a current 5 state of the vehicle (2); determining localisation information for the vehicle (2) with respect to a second frame of reference that is fixed with respect to an entity (e.g. Earth), the vehicle (2) being moveable with respect to the entity; establishing a route for the vehicle (2) with respect to the second frame using the localisation information for the vehicle (2) with respect to the second frame; transforming the route from the second frame to the first frame; and determining a route for the vehicle (2) with respect to the first frame using the localisation information for the vehicle (2) with respect to the first frame and the transformed route.